Research on UAV Vision Landing Target Detection and Obstacle Avoidance Algorithm
Shengjie Piao, Nan Li, Zhonghua Miao · 2023
Aiming at the problem of target recognition and obstacle avoidance during Unmanned aerial vehicles (UAVs) autonomous landing in a complex environment, a solution based on target detection and obstacle avoidance is proposed. Firstly, the UAV obtains the position and attitude of the target through the recognition of the cooperative QR code. Secondly, in the process of the UAV moving toward the target point, the control algorithm is used to impose constraints and optimize the trajectory to ensure the safety of the trajectory and the feasibility of higher-order dynamics. Finally, a simulation example is given to verify the effectiveness and practicability of the control algorithm.